Abstract
In this paper, we present a simple and effective way of implementing an adaptive tracking controller based on the PID for mobile robot trajectory tracking. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven non-holonomic mobile robot is carried out in the velocity and orientation tracking control of the non-holonomic WMR. The simulation results of wheel type mobile robot platform show that the proposed controller is more robust than the conventional back-step** controller to show the effectiveness of the proposed algorithm.
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Chang, H., **, T. (2013). Adaptive Tracking Controller Based on the PID for Mobile Robot Path Tracking. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_55
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DOI: https://doi.org/10.1007/978-3-642-40852-6_55
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40851-9
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